My research
My Phd project is titled "Control of an autonomous flying manipulator" and is part of the FWO (Fund for Scientific Research- Flanders) project G04041N, "Autonomous manipulation using a flying robot" .Joris De Schutter and Herman Bruyninckx are my promotors.
The main research platform used is a Pelican quadrotor from AscTec GmbH.
The goal of the project is
- performing manipulation tasks using an autonomous quadrotor,
- applying the sensor-based framework for task specification and control, developed in our research group, to the autonomous quadrotor and
- robust control of the quadrotor during manipulation task execution.
- The extension of the degrees of freedom of the quadrotor in a broad sense: dexterity, undo/improve non-holonomic nature and reaching outside rotor span
- Complex manipulation: bilateral contacts, flexibility in gripper
- Implement general framework based on iTaSC: General software framework compliant with 5C’s (separation of concerns) and with maximal reusability, implementation of acceleration-resolved scheme, formulation of quadrotor problem in this general framework